CN106538001B - Cooperative positioning method and wireless terminal - Google Patents

Abstract

The embodiment of the invention provides a cooperative positioning method and a wireless terminal. The cooperative positioning method provided by the invention comprises the following steps: the wireless terminal generates positioning request information, wherein the positioning request information comprises positioning precision parameters; selecting a wireless communication technology according to the positioning precision parameter, wherein the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning; acquiring first cooperative positioning information sent by an adjacent terminal through a selected wireless communication technology, wherein the first cooperative positioning information comprises position information of the adjacent terminal; the current position of the wireless terminal is calculated based on the position information of the neighboring terminals. The embodiment of the invention solves the problem that in a cooperative positioning mode in the prior art, because the cooperative information of adjacent nodes is acquired by the wireless terminal through a specific wireless communication technology, both cooperative parties are required to support the specific wireless communication technology, and the hardware requirements of both cooperative parties are strict.

Description

Cooperative positioning method and wireless terminal

technical field

Embodiments of the present invention relate to communication technologies, and in particular, to a cooperative positioning method and a wireless terminal.

Background technique

With the wide application of portable wireless terminals, various location-based services (Location Based Service, LBS for short), such as navigation, local search, location-based advertising and location-based dating applications, need to use the positioning function of wireless terminals to To achieve, currently widely used positioning technologies include: Global Positioning System (Global Positioning System, referred to as: GPS) positioning, Assisted GPS (Assisted Global Positioning System, referred to as: A-GPS), cellular positioning, wireless fidelity (Wireless-Fidelity, Referred to as: Wi-Fi) positioning, Bluetooth positioning and so on.

In order to solve the above-mentioned common technical problems of positioning technology, for example, the positioning process needs to rely on infrastructure or peripheral devices, and the additional cost and power consumption are relatively high. At present, a positioning method that utilizes the information of other nodes in the wireless network has been provided, that is, cooperative positioning. The existing cooperative positioning is usually divided into two types: cooperative positioning based on information complementarity and cooperative positioning based on ranging. The specific working method of complementary cooperative positioning is as follows: when the information possessed by the terminal under test itself is not enough to realize the positioning function, a specific wireless communication technology, such as Wi-Fi, Bluetooth, etc., is used. Specifically, the terminal under test and the adjacent terminal All need to have a specific wireless module, and turn on the specific wireless module, obtain the supplementary information lacking by itself through the interaction between the terminal under test and the adjacent terminal, and then synthesize its own information and the supplementary information obtained from the adjacent terminal for positioning; Similarly, in the cooperative positioning based on ranging, a specific wireless communication technology is also used to realize positioning through the communication between the terminal under test and the adjacent terminal. The difference is that the information obtained by the terminal under test is the position information of the adjacent terminal. and ranging information of the terminal to be measured and the adjacent terminal.

However, in the cooperative positioning method of wireless terminals in the prior art, since the cooperation information of the adjacent nodes is obtained by the terminal under test through a specific wireless communication technology, both parties of the cooperation are required to support the specific wireless communication technology, that is, the two parties of the cooperation are required to support the specific wireless communication technology. All need to have a specific wireless module and turn on the specific wireless module.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a cooperative positioning method and a wireless terminal to solve the cooperative positioning method of wireless terminals in the prior art. Since the cooperation information of adjacent nodes is obtained by the terminal under test through a specific wireless communication technology, both parties of the cooperation are required to Both of them support the specific wireless communication technology, which leads to the problem that the hardware requirements of the cooperative parties are relatively strict.

In a first aspect, an embodiment of the present invention provides a cooperative positioning method, including:

The wireless terminal generates positioning request information, where the positioning request information includes a positioning accuracy parameter;

The wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, and the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning;

obtaining, by the wireless terminal, first cooperative positioning information sent by an adjacent terminal through the selected wireless communication technology, where the first cooperative positioning information includes location information of the adjacent terminal;

The wireless terminal calculates the current location of the wireless terminal according to the location information of the neighboring terminals.

In a first possible implementation manner of the first aspect, the communication range of the selected wireless communication technology is smaller than the difference between the positioning accuracy parameter and a preset first accuracy threshold; and/or,

The selected wireless communication technology includes mobile cellular communication technology, Wi-Fi technology or Bluetooth technology.

According to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner, the first cooperative positioning information further includes the position uncertainty of the adjacent terminal and the first A signal strength of cooperative positioning information, the wireless terminal calculates the current position of the wireless terminal according to the position information of the adjacent terminals, including:

The wireless terminal calculates, according to the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information, a weighting coefficient corresponding to the position information of the adjacent terminal;

其中，l_i为第i个相邻终端的位置信息，ω_i为第i个相邻终端的位置信息对应的加权系数，N为正整数，代表所述相邻终端的个数。The wireless terminal confirms the current position of the wireless terminal according to the position information of the adjacent terminal and the corresponding weighting coefficient as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer representing the number of the adjacent terminals.

According to any one of the first aspect, the first and second possible implementation manners of the first aspect, in a third possible implementation manner, the positioning request information further includes a positioning delay parameter; then the The wireless terminal obtains the first cooperative positioning information sent by the adjacent terminal through the selected wireless communication technology, including:

determining, by the wireless terminal, an acquisition method of the first cooperative positioning information according to the positioning delay parameter;

The wireless terminal uses the selected wireless communication technology to acquire the first cooperative positioning information by using the determined acquisition manner, and the acquisition manner includes an active acquisition manner and a passive acquisition manner.

According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner, the wireless terminal determines an acquisition manner of the first coordinated positioning information according to the positioning delay parameter, including:

When the positioning delay parameter is less than or equal to a preset first delay threshold, the wireless terminal determines the acquisition mode as an active acquisition mode;

Then, the wireless terminal obtains the first cooperative positioning information through the selected wireless communication technology using the determined obtaining manner, including:

The wireless terminal broadcasts a cooperative positioning request message, so that the neighboring terminal sends a cooperative positioning response message according to the cooperative positioning request message;

The wireless terminal receives the coordinated positioning response message, where the coordinated positioning response message includes the first coordinated positioning information.

According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner, the wireless terminal calculates the current location of the wireless terminal according to the location information of the neighboring terminals, including:

When the location information of the adjacent terminal included in the first cooperative positioning information is valid, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminal; or,

When the position information of the adjacent terminal included in the first cooperative positioning information is invalid, the wireless terminal calculates the current position of the wireless terminal by means of self-positioning.

According to a third possible implementation manner of the first aspect, in a sixth possible implementation manner, the wireless terminal determines an acquisition manner of the first coordinated positioning information according to the positioning delay parameter, including:

When the positioning delay parameter is greater than the first delay threshold, the wireless terminal determines the acquisition mode as a passive acquisition mode;

Then, the wireless terminal obtains the first cooperative positioning information through the selected wireless communication technology using the determined obtaining manner, including:

monitoring, by the wireless terminal, the first cooperative positioning information broadcast by the adjacent terminal;

The wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals, including:

When the location information of the adjacent terminal included in the first cooperative positioning information is valid, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminal; or,

When the location information of the adjacent terminal included in the first cooperative positioning information is invalid, the wireless terminal determines the acquisition method of the first cooperative positioning information as the primary acquisition method, and uses the selection method The wireless communication technology using the primary acquisition method acquires the first cooperative positioning information, and then determines the current location of the wireless terminal.

According to the first aspect and any one of the first to sixth possible implementation manners of the first aspect, in a seventh possible implementation manner, after the calculating the current position of the wireless terminal, the method further includes: :

The wireless terminal broadcasts second cooperative positioning information, and the second cooperative positioning information is used for the adjacent terminals to perform cooperative positioning.

According to the first aspect and any one of the first to seventh possible implementation manners of the first aspect, in an eighth possible implementation manner, the positioning request information further includes an update frequency parameter, then the wireless Before the terminal selects the wireless communication technology according to the positioning accuracy parameter, the method further includes:

The wireless terminal determines to perform cooperative positioning or self-positioning according to at least one of the positioning accuracy parameter, the positioning delay parameter, the update frequency parameter, and the self-positioning capability of the wireless terminal;

The wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, including:

When the wireless terminal determines to perform cooperative positioning, a wireless communication technology is selected according to the positioning accuracy parameter.

According to an eighth possible implementation manner of the first aspect, in a ninth possible implementation manner, the conditions for the wireless terminal to determine to perform cooperative positioning include:

The wireless terminal does not have the self-positioning capability; or,

When the wireless terminal has self-positioning capability, the positioning accuracy parameter is greater than a preset second accuracy threshold, the positioning delay parameter is greater than a preset second delay threshold, and the update frequency parameter is less than or equal to a preset set frequency threshold.

In a second aspect, an embodiment of the present invention provides a wireless terminal, including:

a generating module for generating positioning request information, where the positioning request information includes a positioning accuracy parameter;

a selection module, configured to select a wireless communication technology according to the positioning accuracy parameter generated by the generation module, where the selected wireless communication technology is a communication mode for wireless terminals to perform cooperative positioning;

an obtaining module, configured to obtain the first cooperative positioning information sent by the adjacent terminal through the wireless communication technology selected by the selection module, where the first cooperative positioning information includes the position information of the adjacent terminal;

The positioning module is configured to calculate the current position of the wireless terminal according to the position information of the adjacent terminals obtained by the obtaining module.

In a first possible implementation manner of the second aspect, the communication range of the wireless communication technology selected by the selection module is smaller than the difference between the positioning accuracy parameter and a preset first accuracy threshold; and/or,

The wireless communication technology selected by the selection module includes mobile cellular communication technology, wireless fidelity Wi-Fi technology or Bluetooth technology.

According to the second aspect or the first possible implementation manner of the second aspect, in the second possible implementation manner, the first cooperative positioning information acquired by the acquiring module further includes the location uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information, the positioning module includes:

a weighting calculation unit, configured to calculate a weighting coefficient corresponding to the position information of the adjacent terminal according to the position uncertainty of the adjacent terminal obtained by the obtaining module and the signal strength of the first cooperative positioning information;

其中，l_i为第i个相邻终端的位置信息，ω_i为第i个相邻终端的位置信息对应的加权系数，N为正整数，代表所述相邻终端的个数。A position calculation unit, used for confirming the current position of the wireless terminal according to the position information of the adjacent terminal and the corresponding weighting coefficient as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer representing the number of the adjacent terminals.

According to the second aspect, any one of the first and second possible implementation manners of the second aspect, in a third possible implementation manner, the positioning request information generated by the generating module further includes a positioning delay parameter ; Then the acquisition module includes: a mode determination unit, configured to determine the acquisition mode of the first cooperative positioning information according to the positioning delay parameter generated by the generation module;

An information acquisition unit, configured to acquire the first cooperative positioning information by using the acquisition mode determined by the mode determination unit through the wireless communication technology selected by the selection module, and the acquisition mode includes an active acquisition mode and a passive acquisition mode.

According to a third possible implementation manner of the second aspect, in a fourth possible implementation manner, the manner determining unit is specifically configured to, when the positioning delay parameter generated by the generating module is less than or equal to a preset first When the delay threshold is reached, the acquisition method is determined to be an active acquisition method;

The information acquisition unit is specifically configured to broadcast a cooperative positioning request message, so that the adjacent terminals send a cooperative positioning response message according to the cooperative positioning request message; and receive the cooperative positioning response message, the cooperative positioning response The message includes the first cooperative positioning information.

According to a fourth possible implementation manner of the second aspect, in a fifth possible implementation manner, the wireless terminal further includes: a judging module, configured to use the positioning module according to the adjacent terminals acquired by the acquiring module Before calculating the current position of the wireless terminal, determine whether the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is valid;

The positioning module is specifically configured to, when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is valid, according to the adjacent terminal obtained by the obtaining module. The location information of the terminal calculates the current location of the wireless terminal; or,

The positioning module is specifically configured to calculate the wireless terminal by means of self-positioning when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is invalid 's current location.

According to a third possible implementation manner of the second aspect, in a sixth possible implementation manner, the manner determining unit is specifically configured to generate a positioning delay parameter generated by the generating module greater than the first delay When the threshold is reached, the acquisition method is determined to be a passive acquisition method; then the information acquisition unit is specifically configured to monitor the first cooperative positioning information broadcast by the adjacent terminal;

The wireless terminal further includes: a judging module for judging the first cooperation obtained by the obtaining module before the positioning module calculates the current position of the wireless terminal according to the position information of the adjacent terminals obtained by the obtaining module. Whether the location information of the adjacent terminal included in the positioning information is valid;

The positioning module is specifically configured to, when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is valid, according to the adjacent terminal obtained by the obtaining module. The location information of the terminal calculates the current location of the wireless terminal; or,

The positioning module is specifically configured to, when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is invalid, to obtain the first cooperative positioning information. The method is determined as the main acquisition method;

The acquisition module is further configured to acquire the first cooperative positioning information by using the primary acquisition method determined by the positioning module through the wireless communication technology selected by the selection module.

According to the second aspect and any one of the first to sixth possible implementation manners of the second aspect, in a seventh possible implementation manner, the wireless terminal further includes: a broadcasting module, configured to: After calculating the current position of the wireless terminal, the positioning module broadcasts second cooperative positioning information, and the second cooperative positioning information is used for the adjacent terminals to perform cooperative positioning.

According to any one of the second aspect and the first to seventh possible implementation manners of the second aspect, in an eighth possible implementation manner, the positioning request information generated by the generating module further includes an update frequency parameter, Then the judging module is further configured to, before the selection module selects the wireless communication technology, according to the positioning accuracy parameter, the positioning delay parameter, the update frequency parameter and the self-timer of the wireless terminal generated by the generating module. At least one of the positioning capabilities, determining to perform cooperative positioning or self-positioning;

The selection module is specifically configured to select a wireless communication technology according to the positioning accuracy parameter generated by the generation module when the determination module determines to perform cooperative positioning.

According to an eighth possible implementation manner of the second aspect, in a ninth possible implementation manner, the conditions for determining by the judgment module to perform cooperative positioning include:

The wireless terminal does not have the self-positioning capability; or,

When the wireless terminal has self-positioning capability, the positioning accuracy parameter is greater than a preset second accuracy threshold, the positioning delay parameter is greater than a preset second delay threshold, and the update frequency parameter is less than or equal to a preset set frequency threshold.

In a third aspect, an embodiment of the present invention provides a wireless terminal, including:

a processor, configured to generate positioning request information, where the positioning request information includes a positioning accuracy parameter;

The processor is further configured to select a wireless communication technology according to the positioning accuracy parameter, where the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning;

a receiver, configured to obtain first cooperative positioning information sent by an adjacent terminal through a wireless communication technology selected by the processor, where the first cooperative positioning information includes location information of the adjacent terminal;

a calculator, configured to calculate the current position of the wireless terminal according to the position information of the adjacent terminals acquired by the receiver.

In a first possible implementation manner of the third aspect, the communication range of the wireless communication technology selected by the processor is smaller than the difference between the positioning accuracy parameter and a preset first accuracy threshold; and/or,

The wireless communication technology selected by the processor includes mobile cellular communication technology, Wi-Fi technology or Bluetooth technology.

According to the third aspect or the first possible implementation manner of the third aspect, in a second possible implementation manner, the first cooperative positioning information acquired by the receiver further includes the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information;

其中，l_i为第i个相邻终端的位置信息，ω_i为第i个相邻终端的位置信息对应的加权系数，N为正整数，代表所述相邻终端的个数。then the calculator is specifically configured to calculate the weighting coefficient corresponding to the position information of the adjacent terminal according to the position uncertainty of the adjacent terminal obtained by the receiver and the signal strength of the first cooperative positioning information; and The current location of the wireless terminal is confirmed according to the location information of the neighboring terminal and the corresponding weighting coefficient as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer representing the number of the adjacent terminals.

According to the third aspect, any one of the first and second possible implementation manners of the third aspect, in a third possible implementation manner, the positioning request information generated by the processor further includes a positioning delay parameter ; Then the receiver is specifically used to determine the acquisition mode of the first cooperative positioning information according to the positioning delay parameter generated by the processor; The first cooperative positioning information is acquired in a determined acquisition manner, and the acquisition manner includes an active acquisition manner and a passive acquisition manner.

According to a third possible implementation manner of the third aspect, in a fourth possible implementation manner, the receiver is specifically configured to determine, according to the positioning delay parameter generated by the processor, the information of the first cooperative positioning information. The acquisition mode specifically includes: when the positioning delay parameter generated by the processor is less than or equal to a preset first delay threshold, determining the acquisition mode as an active acquisition mode; correspondingly, the wireless terminal further includes: a transmitter, configured to broadcast a cooperative positioning request message, so that the neighboring terminals send a cooperative positioning response message according to the cooperative positioning request message; then the receiver is configured to receive the cooperative positioning response message, the cooperative positioning response message The positioning response message includes the first cooperative positioning information.

According to a fourth possible implementation manner of the third aspect, in a fifth possible implementation manner, the processor is further configured to calculate, in the calculator according to the position information of the adjacent terminal acquired by the processor Before the current location of the wireless terminal, determine whether the location information of the adjacent terminal included in the first cooperative positioning information acquired by the receiver is valid;

The calculator is specifically configured to, when the processor determines that the location information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is valid, according to the adjacent information obtained by the processor. The location information of the terminal calculates the current location of the wireless terminal; or,

The calculator is specifically configured to calculate the wireless terminal by means of self-positioning when the processor determines that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is invalid 's current location.

According to a third possible implementation manner of the third aspect, in a sixth possible implementation manner, the receiver is specifically configured to determine, according to the positioning delay parameter generated by the processor, the information of the first cooperative positioning information. The acquisition method specifically includes: when the positioning delay parameter generated by the processor is greater than the first delay threshold, determining the acquisition method as a passive acquisition method; and monitoring the first broadcast of the adjacent terminal. 1. Collaborative positioning information;

The processor is further configured to, before the calculator calculates the current position of the wireless terminal according to the position information of the adjacent terminals obtained by the processor, determine that the first cooperative positioning information obtained by the receiver includes: Whether the location information of the adjacent terminal is valid;

The calculator is specifically configured to, when the processor determines that the location information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is valid, according to the adjacent information obtained by the processor. The location information of the terminal calculates the current location of the wireless terminal; or,

The calculator is specifically configured to, when the processor determines that the location information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is invalid, to obtain the first cooperative positioning information The method is determined as the main acquisition method;

Then, the processor is further configured to acquire the first cooperative positioning information by using the selected wireless communication technology using the primary acquisition method determined by the calculator.

According to the third aspect and any one of the first to sixth possible implementation manners of the third aspect, in a seventh possible implementation manner, the wireless terminal further includes: a transmitter, configured to After calculating the current position of the wireless terminal, the calculator broadcasts second cooperative positioning information, and the second cooperative positioning information is used for the adjacent terminals to perform cooperative positioning.

According to the third aspect and any one of the first to seventh possible implementation manners of the third aspect, in an eighth possible implementation manner, the positioning request information generated by the processor further includes an update frequency parameter, Then the processor is further configured to, before the selection of the wireless communication technology, according to the generated positioning accuracy parameter, the positioning delay parameter, the update frequency parameter and the self-positioning capability of the wireless terminal. At least one, determine to perform cooperative positioning or self-positioning;

The processor is further configured to select a wireless communication technology according to the generated positioning accuracy parameter, which specifically includes: when the processor determines to perform cooperative positioning, selecting a wireless communication technology according to the generated positioning accuracy parameter.

According to an eighth possible implementation manner of the third aspect, in a ninth possible implementation manner, the conditions for determining by the processor to perform cooperative positioning include:

The wireless terminal does not have the self-positioning capability; or,

When the wireless terminal has self-positioning capability, the positioning accuracy parameter is greater than a preset second accuracy threshold, the positioning delay parameter is greater than a preset second delay threshold, and the update frequency parameter is less than or equal to a preset set frequency threshold.

In the cooperative positioning method and wireless terminal provided by the embodiments of the present invention, the wireless terminal generates positioning request information including a positioning accuracy parameter through a currently running application program (Application, referred to as: APP for short), so as to select and satisfy the positioning accuracy according to the positioning accuracy parameter. requires a wireless communication technology with low power consumption, and communicates with adjacent terminals through the selected wireless communication technology, and obtains the first cooperative positioning information sent by the adjacent terminals, where the first cooperative positioning information includes the position information of the adjacent terminals. , so that the wireless terminal can calculate its current position according to the position information of the adjacent terminal, which solves the cooperative positioning method in the prior art. Since the cooperative information of the adjacent node is obtained by the wireless terminal through a specific wireless communication technology, both parties are required to cooperate. Both of them support the specific wireless communication technology, which leads to the problem that the hardware requirements of the cooperative parties are relatively strict.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a flowchart of a cooperative positioning method according to Embodiment 1 of the present invention;

2 is a schematic diagram of a wireless terminal performing cooperative positioning in the prior art;

3 is a flowchart of a cooperative positioning method according to Embodiment 2 of the present invention;

4 is a flowchart of another cooperative positioning method provided by an embodiment of the present invention;

FIG. 5 is a flowchart of a cooperative positioning method according to Embodiment 3 of the present invention;

FIG. 6 is a schematic structural diagram of a wireless terminal according to Embodiment 4 of the present invention;

FIG. 7 is a schematic structural diagram of a wireless terminal according to Embodiment 5 of the present invention;

FIG. 8 is a schematic structural diagram of a wireless terminal according to Embodiment 6 of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

FIG. 1 is a flowchart of a cooperative positioning method according to Embodiment 1 of the present invention. The method of this embodiment is applicable to the case where the wireless terminal performs cooperative positioning. The method can be executed by a wireless terminal, which is usually implemented in hardware and software, and can be integrated in a memory of the wireless terminal, such as a processor chip, for the processor to call and execute. The method of this embodiment includes the following steps:

S110, the wireless terminal generates positioning request information, where the positioning request information includes a positioning accuracy parameter.

Current wireless terminals, such as mobile phones, personal digital assistants (Personal Digital Assistant, PDA for short), etc., usually implement various functions by loading APPs. The commonly used positioning technologies mainly include GPS positioning, A-GPS, cellular positioning, Wi-Fi positioning and Bluetooth positioning. ), Inertial Navigation System (Inertial Navigation System, INS for short) and other technologies can also be used for the positioning of wireless terminals; however, the above positioning methods all rely on infrastructure or peripheral equipment, and have problems such as additional cost and high power consumption.

In this embodiment, when the APP currently running on the wireless terminal generates a positioning requirement, for example, the APP may be a navigation application, and the wireless terminal generates positioning request information according to the actual needs of the APP for the positioning function, and the positioning request information may specifically include Positioning accuracy parameter. For example, for outdoor navigation APPs, the positioning range is usually large, and the accuracy requirements are relatively low. The requirements for accuracy are usually high. Therefore, when the wireless terminal generates positioning requests according to different APPs, the positioning accuracy parameters included in the positioning request information are also different.

S120, the wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, where the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning.

In order to avoid the above-mentioned technologies such as GPS positioning, A-GPS or cellular positioning relying on infrastructure or peripheral devices, and the additional cost and power consumption are high, the prior art proposes a cooperative positioning method, that is, through wireless terminals and neighboring The interaction of terminals realizes positioning. For example, the commonly used cooperative positioning may include cooperative positioning based on complementary information. Its working method is as follows: when the wireless terminal to be tested is not enough to realize the positioning function by using its own information, a specific method is used. specific wireless communication technologies, such as Wi-Fi, Bluetooth, etc. Specifically, after the terminal to be tested and the adjacent terminal access the same wireless network, D2D communication is performed, and supplementary information that is lacking by itself is obtained through interaction with adjacent terminals. Then, the results of self-positioning and the cooperative information obtained from adjacent terminals are integrated to perform positioning; FIG. 2 is a schematic diagram of wireless terminals performing cooperative positioning in the prior art. The number of visible satellites is less than 3, and the number of visible satellites of its adjacent node B is far more than 3, then the point A to be measured can obtain other satellite information it needs through communication with node B, and finally ensure success Positioning, it should be noted that the circles in Figure 2 represent communication nodes, the point A to be measured does not need to know the specific locations of its adjacent nodes, and the dotted lines represent communication between nodes for transmitting complementary information. However, in the specific method of cooperative positioning shown in FIG. 2, the cooperative information of adjacent nodes used for cooperative positioning is obtained by the terminal under test through a specific wireless communication technology. Both parties of the cooperation need to have wireless modules that support a specific wireless communication technology, and both must be turned on. Further, in the cooperative positioning method shown in FIG. 2, the specific wireless communication technology accessed by both parties may cause a phenomenon that does not match the positioning accuracy. For example, when the communication range of the wireless communication technology is 5km, the positioning accuracy If the demand is 60m, the search range in the positioning process is large, which leads to high power consumption for positioning and poor accuracy.

In this embodiment, the wireless terminal to be tested selects an appropriate technology from the wireless communication technologies supported by the wireless terminal according to the positioning accuracy parameters generated by the specific requirements of the currently running APP, such as cellular communication technology, Wi-Fi technology , Bluetooth technology, etc. (the communication range of cellular technology is usually up to several thousand meters, the outdoor communication range of Wi-Fi technology using 802.11b and 802.11g standards is about 100 meters, and the communication range of Bluetooth technology is tens of meters), and then wireless The terminal interacts with neighboring terminals through the selected wireless communication technology to realize cooperative positioning. Since the cooperative positioning accuracy is limited by the position uncertainty of adjacent terminals, that is, the positioning error, and the sum of the wireless communication range, the communication range of the selected wireless communication technology should be smaller than the positioning accuracy parameter a and the first accuracy threshold ε. Poor, that is, the communication range of the selected wireless communication technology is: d<a-ε, where the first precision threshold ε is set by the system of the wireless terminal according to the actual positioning performance requirement. For example, if the wireless terminal is positioned indoors, the positioning accuracy parameter generated according to the APP is 100m, and the first accuracy threshold ε is 20m, then d<80m is required. Since the indoor communication range of 802.11n is about 70m, it can be Use it as an alternative wireless communication technology for cooperative positioning. That is to say, the requirements for the selection of the wireless communication technology in this embodiment are specifically: a wireless communication technology that can meet the positioning accuracy requirement and has the smallest power consumption.

S130: The wireless terminal acquires first cooperative positioning information sent by the adjacent terminal through the selected wireless communication technology, where the first cooperative positioning information includes location information of the adjacent terminal.

In this embodiment, after selecting a suitable wireless communication technology, the wireless terminal needs to communicate with the adjacent terminal to obtain the location information of the adjacent terminal, which is used as the basic information for the wireless terminal to perform cooperative positioning. The neighboring terminal may send the first cooperative positioning information in the form of a broadcast or unicast message, wherein the broadcast or unicast information includes the location information of the neighboring terminal.

It should be noted that the number of adjacent terminals in this embodiment may be one or more. Therefore, the number of first cooperation information acquired by the wireless terminal in this embodiment may also be one or more, as long as the number of adjacent terminals can be selected through wireless communication. The terminal that communicates with the wireless terminal can all be the adjacent terminal in this embodiment; in addition, in this embodiment, both the wireless terminal and the adjacent terminal can perform cooperative positioning, that is, in this embodiment, the wireless terminal and the adjacent terminal can perform cooperative positioning. Terminals are interchangeable.

S140, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals.

The cooperative positioning method provided in this embodiment is different from the cooperative positioning method shown in FIG. 2 . During the cooperative positioning process of the wireless terminal, the current position of the wireless terminal can be calculated only according to the position information of the adjacent terminal, and the current position of the wireless terminal is not calculated. The wireless terminal needs to perform positioning in combination with its own information and the cooperative information obtained from neighboring terminals. The method shown in FIG. 2 is usually performed by a wireless terminal with a self-positioning function, and the cooperative positioning method provided in this embodiment does not limit the wireless terminal. Whether the terminal has a self-positioning function reduces the hardware requirement of the wireless terminal for the cooperative positioning method.

In the cooperative positioning method provided in this embodiment, the wireless terminal generates positioning request information including the positioning accuracy parameter through the currently running APP, so as to select a wireless communication technology that meets the positioning accuracy requirement and consumes less power according to the positioning accuracy parameter, and uses The selected wireless communication technology communicates with the adjacent terminal to obtain the first cooperative positioning information sent by the adjacent terminal, where the first cooperative positioning information includes the position information of the adjacent terminal, so as to realize the wireless terminal according to the position information of the adjacent terminal Calculating its current position solves the cooperative positioning method in the prior art. Since the cooperative information of the adjacent nodes is obtained by the terminal to be tested through a specific wireless communication technology, both parties are required to support the specific wireless communication technology, resulting in The hardware requirements of the two parties in the cooperation are relatively strict; further, the method provided in this embodiment can calculate the current position of the wireless terminal only according to the position information of the adjacent terminals, and is suitable for the wireless terminal without self-positioning capability, The hardware requirement of the wireless terminal for the cooperative positioning method is reduced.

Optionally, the first cooperative positioning information obtained by the wireless terminal may also include the position uncertainty of the adjacent terminals and the signal strength of the first cooperative positioning information, and the specific method for the wireless terminal to calculate the current position may be, for example: the wireless terminal Calculate the weighting coefficient ω corresponding to the position information of the adjacent terminal according to the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information; The current location is confirmed as:

In the above formula (1), li is the position information of the _{ith adjacent terminal, ω i is} the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer representing the number of adjacent terminals.

Further, the determination method of the weighting coefficient ω _i corresponding to the position information of the ith adjacent terminal may be:

In the above formula (2), ri is the signal strength of the first cooperative positioning information sent by the _ith adjacent terminal, and _ui is the uncertainty of the position information of the ith adjacent terminal.

In the cooperative positioning method shown in FIG. 2, the wireless terminal to be tested needs to exchange a large amount of information, which results in the need to occupy more wireless resources during the cooperative positioning process, and after the information exchange is completed, the wireless terminal to be tested needs to To calculate the position of the cooperative information obtained by the interaction and its own information, the wireless terminal needs to have high computing power. In addition, the information interaction and position calculation will also lead to problems such as long positioning delay and high energy consumption. Different from the cooperative positioning method shown in FIG. 2 , in the method provided in this embodiment, the position of the wireless terminal is calculated as the weighted sum of the position information of the adjacent terminals, and the weighting coefficient is determined by the position uncertainty of the adjacent terminals and the adjacent terminals. The signal strength of the first cooperative positioning information sent by the terminal is determined, the algorithm is simple in the positioning process, and positioning can also be achieved on wireless terminals with low computing capabilities; therefore, the method provided in this embodiment does not require installation of infrastructure, nor Equipping the wireless terminal with hardware facilities with higher computing power further reduces the hardware cost of the wireless terminal.

Embodiment 2

FIG. 3 is a flowchart of a cooperative positioning method according to Embodiment 2 of the present invention. This embodiment is further described based on the embodiment shown in FIG. 1 , and the method provided by this embodiment specifically includes the following steps:

S210, the wireless terminal generates positioning request information, where the positioning request information includes a positioning accuracy parameter and a positioning delay parameter.

S220, the wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, where the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning.

Specifically, for the implementation of S210-S220, refer to S110-S120 in the first embodiment.

S230, the wireless terminal determines an acquisition method of the first cooperative positioning information according to the positioning delay parameter, where the first cooperative positioning information includes the position information of the adjacent terminals, and uses the selected wireless communication technology to acquire the first cooperative positioning information in a determined acquisition manner The positioning information can be obtained in an active way and a passive way.

In this embodiment, the positioning request information obtained by the wireless terminal through the currently running APP also includes a positioning delay parameter, and the positioning delay parameter reflects the delay requirement of the current APP for positioning, and the wireless terminal selects and obtains according to the positioning delay parameter The specific manner of the first cooperative positioning information broadcast by the neighboring terminal, the manner usually includes an active acquisition manner and a passive acquisition manner. For example, if the value of the positioning delay parameter is small, it means that the APP currently running on the wireless terminal has a high demand for positioning delay. In this case, the active acquisition method is usually adopted. If the value of the positioning delay parameter is large, It means that the APP currently running on the wireless terminal has a low demand for positioning delay, and passive acquisition can be used; When the operating frequency of the processor is low, or there are many programs currently running that take up a large amount of memory space, select a processing method that is more suitable for the current state.

S240, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals.

Specifically, for the implementation of S240, refer to S140 in the first embodiment.

In the cooperative positioning method provided in this embodiment, the wireless terminal generates positioning request information including the positioning accuracy parameter through the currently running APP, so as to select a wireless communication technology that meets the positioning accuracy requirement and consumes less power according to the positioning accuracy parameter, and uses The selected wireless communication technology communicates with the adjacent terminal to obtain the first cooperative positioning information sent by the adjacent terminal, where the first cooperative positioning information includes the position information of the adjacent terminal, so as to realize the wireless terminal according to the position information of the adjacent terminal Calculating its current position solves the cooperative positioning method in the prior art. Since the cooperative information of the adjacent nodes is obtained by the terminal to be tested through a specific wireless communication technology, both parties are required to support the specific wireless communication technology, resulting in The hardware requirements of the two parties in the cooperation are relatively strict; further, the method provided in this embodiment can calculate the current position of the wireless terminal only according to the position information of the adjacent terminals, and is suitable for the wireless terminal without self-positioning capability, The hardware requirement of the wireless terminal for the cooperative positioning method is reduced. In addition, the method provided in this embodiment can select different ways to obtain the first cooperative positioning information according to the requirements of the APP currently running on the wireless terminal for positioning delay, so as to select a processing method more suitable for the current state when the resources of the wireless terminal are limited.

In this embodiment, the specific method for determining the acquisition of the first cooperative positioning information may be, for example, a first delay threshold is preset in the system of the wireless terminal, and the acquisition is determined by comparing the first delay threshold with the positioning delay parameter. For the specific manner of the first cooperative positioning information, the first delay threshold is preset by the system of the wireless terminal according to the actual positioning performance requirement. FIG. 4 is a flowchart of another cooperative positioning method provided by an embodiment of the present invention. On the basis of the above-mentioned embodiment shown in FIG. 3, S230 specifically includes: S231, judging whether a positioning delay parameter is greater than a first delay threshold , if not, execute S232, if yes, execute S236.

S232 , the wireless terminal broadcasts a cooperative positioning request message, so that the adjacent terminals feed back a cooperative positioning response message according to the cooperative positioning request message.

S233, the wireless terminal receives a cooperative positioning response message, where the cooperative positioning response message includes the first cooperative positioning information.

In an implementation manner of this embodiment, the time delay requirement for cooperative positioning of the wireless terminal is relatively high, so an active acquisition method can be selected to obtain the first cooperative information sent by the adjacent terminals, that is, the wireless terminal actively sends a cooperative positioning request by The position information of the neighboring terminal for cooperative positioning is obtained by means of a message. In the specific implementation, the wireless terminal broadcasts at a certain frequency for a period of time, and the broadcast time and frequency can refer to the positioning update frequency and positioning delay parameters of the currently running APP; for example, the broadcast frequency can be set as the positioning update frequency Twice of f, the broadcast time is one-fifth of the positioning delay parameter. For example, if the positioning delay parameter is 10s, the broadcast message is only carried out in the first 2s, and other work of cooperative positioning is performed in the following 8s. This method is usually used for single-threaded wireless terminals; for another example, cooperative positioning messages can also be broadcast within the positioning delay parameter. At present, wireless terminals usually have multi-threaded processors, so the time of broadcast messages may not be distinguished. and the time for performing positioning, the broadcast of the message is ended after the wireless terminal updates the current position, or the broadcast of the message can be automatically ended after the time defined by the positioning delay parameter is exceeded. In the method provided in this embodiment, after sending the cooperative positioning request message, the wireless terminal receives a response message fed back by the adjacent terminal, that is, the message fed back by the adjacent terminal that can interact with the wireless terminal through the selected wireless communication technology. The message includes first cooperative positioning information for the wireless terminal to perform cooperative positioning.

In a specific implementation, the wireless terminal may perform subsequent positioning work according to the validity of the acquired information. Specifically, before calculating the current position of the wireless terminal, the method further includes: S234, judging whether the acquired first cooperative positioning information is valid, and if so , then execute S240, if not, execute S235.

S235, the wireless terminal calculates the current position of the wireless terminal by means of self-positioning.

In this embodiment, the judgment of the validity of the first cooperation information is jointly determined by the position uncertainty u of the adjacent terminal carried in the acquired information, the positioning accuracy parameter a and the communication range d of the selected wireless communication technology, for example , when the sum of the position uncertainty and the communication range of the wireless communication technology is greater than the positioning accuracy parameter, that is, u+d>a, the information is invalid; when the sum of the position uncertainty and the communication range of the wireless communication technology is less than or equal to the positioning accuracy parameter, i.e. u+d≤a, the information is valid; if the information of the adjacent terminal acquired by the wireless terminal is invalid, the cooperative positioning cannot continue. Therefore, the wireless terminal with self-location capability can also use the self-location The current position is calculated in this way, which improves the reliability and practicability of the method provided in this embodiment. The method provided in this embodiment can not only realize cooperative positioning, but also determine the current position through self-positioning capability when the wireless terminal has the self-defining capability. Therefore, the method provided in this embodiment does not limit the environment in which the wireless terminal performs positioning. It can work both indoors and outdoors, which expands the scope of use compared to GPS positioning (suitable for outdoor) and Bluetooth positioning (suitable for indoors) with limited application range; it should be noted that if this embodiment The wireless terminal in the device does not have the self-positioning capability, and after judging that the first cooperative positioning information is invalid, the current position cannot be calculated through the self-positioning, so the positioning fails.

S236, the wireless terminal monitors the first cooperative positioning information broadcast by the adjacent terminals.

In another implementation manner of this embodiment, the time delay requirement for cooperative positioning of the wireless terminal is relatively low, so a passive acquisition method can be selected to obtain the first cooperative information broadcast by the adjacent terminal, that is, the wireless terminal passively monitors the adjacent terminal In the method provided in this embodiment, it is set that the adjacent terminal is also a terminal that is performing cooperative positioning, so the first cooperative positioning information can be actively broadcast.

Similarly, the wireless terminal can also perform subsequent positioning work according to the validity of the acquired information. Specifically, before calculating the current position of the wireless terminal, the method further includes: S237, judging whether the acquired first cooperative positioning information is valid, and if so, Then execute S240, if not, execute S232.

S240, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals. The specific implementation manner and beneficial effects of calculating the current position of the wireless terminal in this embodiment can all be referred to the above-mentioned embodiments, and thus will not be repeated here.

It should be noted that, in this embodiment, the wireless terminal adopts a passive acquisition method to acquire the location information of adjacent terminals. In this passive acquisition method, the judgment of the validity of the first cooperation information is the same as the judgment in the above-mentioned active acquisition method. This will not be repeated here. In this method, if the acquired location information for cooperative positioning is invalid, the wireless terminal may re-obtain the location information for cooperative positioning through an active acquisition method, that is, the acquisition of the first cooperative positioning information The primary acquisition mode is determined, and the first cooperative positioning information is acquired by using the primary acquisition mode through the selected wireless communication technology.

In this embodiment, the passive acquisition method is adopted when the positioning delay requirement of the APP is low, and the active acquisition method is adopted when the positioning delay requirement of the APP is high. When there is cooperative positioning information, the wireless terminal can switch to the active acquisition mode. When the active acquisition method fails to obtain valid first cooperative positioning information for a long time, the wireless terminal with self-location capability can also use the self-location method. Calculate the current position. The cooperative positioning method provided in this embodiment is commonly used, and can work on wireless terminals with self-positioning functions. For example, existing mobile phones usually have self-positioning functions such as GPS positioning, cellular positioning, and Wi-Fi positioning. A wireless terminal without a self-positioning function, such as a camera with a Bluetooth, infrared or Wi-Fi function; when a wireless terminal with a self-positioning function performs positioning in combination with the cooperative positioning method provided in this embodiment, it can reduce the time required to perform the self-positioning function. The probability is reduced accordingly, and the power consumption is correspondingly reduced; when the self-positioning fails, an auxiliary positioning method can be provided to improve the reliability of the positioning. With the method provided by the embodiment of the present invention, generally, the wireless terminal starts self-positioning with high energy consumption, such as GPS and Wi-Fi positioning, only when the cooperative positioning fails, and selects wireless communication with low power consumption as much as possible during the cooperative positioning process. The technology performs a small amount of information exchange, which can effectively reduce the energy loss during the positioning process.

In a specific implementation, the method provided by the embodiment shown in FIG. 4 can also limit the time for the wireless terminal to obtain the first cooperative positioning information. Specifically, the wireless terminal monitors the first cooperative positioning information broadcast by the adjacent terminals The time for the wireless terminal to receive the cooperative positioning response message fed back by the adjacent terminal is limited. Specifically, a time threshold can be set in the system of the wireless terminal. If it times out, the cooperative positioning will continue to be performed. If it does not time out, it can be repeated Perform the work of acquiring the first cooperative positioning information.

Further, in the cooperative positioning method provided by this embodiment, after the current position of the wireless terminal is calculated, that is, after S240, the method further includes: S250, the wireless terminal broadcasts second cooperative positioning information, and the second cooperative positioning information is used for neighboring The terminal performs cooperative positioning. In the cooperative positioning method provided in this embodiment, both the wireless terminal and the adjacent terminals are terminals that may need to perform cooperative positioning, and the wireless terminal that has achieved cooperative positioning, after its current position is updated, can be located at a certain frequency at a certain frequency. The second cooperative positioning information is broadcast within a time, and the setting method of the frequency and time of broadcasting the second cooperative positioning information may refer to the setting method of the frequency and time of broadcasting the cooperative positioning request message.

Embodiment 3

FIG. 5 is a flowchart of a cooperative positioning method according to Embodiment 3 of the present invention. The method provided by this embodiment specifically includes the following steps:

S310, the wireless terminal generates positioning request information, where the positioning request information includes a positioning accuracy parameter, a positioning delay parameter and an update frequency parameter.

In this embodiment, the location request information generated by the wireless terminal according to the location requirement of the currently running APP further specifically includes an update frequency parameter.

S320, the wireless terminal judges whether to perform cooperative positioning according to at least one of the positioning accuracy parameter, the positioning delay parameter, the update frequency parameter and the self-positioning capability of the wireless terminal; if so, execute S330; if not, execute S360.

S330, the wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, where the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning.

S340, the wireless terminal determines an acquisition method of the first cooperative positioning information according to the positioning delay parameter, where the first cooperative positioning information includes the position information of the adjacent terminals, and uses the selected wireless communication technology to acquire the first cooperative positioning information in a determined acquisition manner The positioning information can be obtained in an active way and a passive way.

S350, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals.

Specifically, for the implementation of S330-S350, refer to S220-S240 in the second embodiment.

S360, the wireless terminal calculates the current position of the wireless terminal by means of self-positioning.

In the cooperative positioning method provided in this embodiment, the wireless terminal can choose to perform cooperative positioning or self-positioning according to the specific requirements of the currently running APP, and can comprehensively consider the advantages and limitations of cooperative positioning and self-positioning, and provide a more suitable wireless positioning method. The positioning method of the current APP running on the terminal.

In a specific implementation, the conditions for the wireless terminal to determine to perform cooperative positioning may include: the wireless terminal does not have the self-positioning capability; or, when the wireless terminal has the self-positioning capability, the positioning accuracy parameter is greater than a preset second accuracy threshold, positioning The delay parameter is greater than the preset second delay threshold, and the update frequency parameter is less than or equal to the preset frequency threshold; it should be noted that when the wireless terminal determines to perform cooperative positioning, the positioning accuracy parameter, positioning delay parameter and update frequency The parameter requirement is an "and" relationship, that is, when the wireless terminal has self-positioning capability, as long as the positioning accuracy parameter is less than or equal to the second accuracy threshold, and the positioning delay parameter is less than or equal to the second delay threshold, and update When the frequency parameter is greater than one of the frequency thresholds, the wireless terminal determines to perform self-location.

S370, the wireless terminal broadcasts second cooperative positioning information, where the second cooperative positioning information is used for the adjacent terminals to perform cooperative positioning.

In this embodiment, in both S350 and S360, the current position of the wireless terminal can be calculated, but the positioning method is different. Therefore, after S350 or S360, S370 can be executed. It should be noted that, for the specific manner in which the wireless terminal performs S340 in this embodiment, reference may also be made to S230 in the embodiment shown in FIG. 4 , and the specific implementation manner is the same as that in the embodiment shown in FIG. 4 , so it will not be repeated here. .

In the method provided by this embodiment, it is also possible to choose to use cooperative positioning and self-positioning, and when cooperative positioning fails or self-positioning fails, switch to another positioning method, and when cooperative positioning is adopted, an active acquisition method can also be selected. Alternatively, the first cooperative positioning information broadcasted by the adjacent terminal is acquired in a passive acquisition manner, that is, the beneficial effect of this implementation is the same as that of the above-mentioned embodiment, so it is not repeated here.

Embodiment 4

FIG. 6 is a schematic structural diagram of a wireless terminal according to Embodiment 4 of the present invention. The wireless terminal provided in this embodiment specifically includes: a generation module 11 , a selection module 12 , an acquisition module 13 and a positioning module 14 .

The generating module 11 is configured to generate positioning request information, where the positioning request information includes a positioning accuracy parameter.

The wireless terminal in this embodiment can be, for example, a mobile phone, a PDA, etc. When a currently running APP generates a positioning requirement, for example, the APP can be a navigation application, the generation module 11 of the wireless terminal is based on the actual requirement of the APP for the positioning function Generate positioning request information.

The selection module 12 is configured to select a wireless communication technology according to the positioning accuracy parameter generated by the generation module 11, where the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning.

In this embodiment, the selection module 12 of the wireless terminal to be located selects an appropriate technology from the wireless communication technologies supported by the wireless terminal according to the positioning accuracy parameters generated by the specific requirements of the currently running APP, such as cellular communication technology, Wi-Fi technology, Bluetooth technology, etc. For example, the communication range of the wireless communication technology selected by the selection module 12 is smaller than the difference between the positioning accuracy parameter and the preset first accuracy threshold.

The obtaining module 13 is configured to obtain the first cooperative positioning information sent by the adjacent terminal through the wireless communication technology selected by the selection module 12, where the first cooperative positioning information includes the position information of the adjacent terminal.

It should be noted that the number of adjacent terminals in this embodiment may be one or more. Therefore, the number of first cooperation information acquired by the wireless terminal in this embodiment may also be one or more, as long as the number of adjacent terminals can be selected through wireless communication. The terminal that communicates with the wireless terminal can all be the adjacent terminal in this embodiment; in addition, in this embodiment, both the wireless terminal and the adjacent terminal can perform cooperative positioning, that is, in this embodiment, the wireless terminal and the adjacent terminal can perform cooperative positioning. Terminals are interchangeable.

The positioning module 14 is configured to calculate the current position of the wireless terminal according to the position information of the adjacent terminals obtained by the obtaining module 13 .

In the wireless terminal provided in this embodiment, in the process of performing cooperative positioning, the current position of the wireless terminal can be calculated only according to the position information of adjacent terminals. Therefore, whether the wireless terminal has a self-positioning function is not limited, which reduces the need for The hardware requirements of the wireless terminal for the cooperative positioning method.

The wireless terminal provided by the embodiment of the present invention is used to execute the cooperative positioning method provided by the embodiment shown in FIG. 1 of the present invention, and has corresponding functional modules, and the implementation principles and technical effects thereof are similar, and are not repeated here.

其中，l_i为第i个相邻终端的位置信息，ω_i为第i个相邻终端的位置信息对应的加权系数，N为正整数，代表该相邻终端的个数。Optionally, in the wireless terminal provided in this embodiment, the first cooperative positioning information obtained by the obtaining module 13 may further include the position uncertainty of adjacent terminals and the signal strength of the first cooperative positioning information; correspondingly, the positioning module 14 It includes: a weighted calculation unit and a position calculation unit; wherein, the weighted calculation unit is used to calculate the position information of the adjacent terminal according to the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information obtained by the acquisition module 13 The corresponding weighting coefficient; the position calculation unit is used to confirm the current position of the wireless terminal according to the position information of the adjacent terminal and the corresponding weighting coefficient as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer representing the number of the adjacent terminals.

The wireless terminal provided by this embodiment has a simple arithmetic processing algorithm in the process of performing cooperative positioning, and can also realize positioning on a wireless terminal with low computing power, neither need to install infrastructure nor equip the wireless terminal with high computing power The hardware facilities further reduce the hardware cost of wireless terminals.

Embodiment 5

FIG. 7 is a schematic structural diagram of a wireless terminal according to Embodiment 5 of the present invention. As shown in FIG. 7 , the wireless terminal provided in this embodiment is based on the terminal structure shown in FIG. 6 above. In this embodiment, the positioning request information generated by the generating module 11 may further include a positioning delay parameter; accordingly, The obtaining module 13 may include: a method determining unit 15 for determining the obtaining method of the first cooperative positioning information according to the positioning delay parameter generated by the generating module 11 ; an information obtaining unit 16 for adopting the wireless communication technology selected by the selection module 12 The acquisition mode determined by the mode determination unit 15 acquires the first cooperative positioning information, and the acquisition mode may include an active acquisition mode and a passive acquisition mode.

It should be noted that when the operating frequency of the processor of the wireless terminal is limited or the memory space is relatively high, for example, the operating frequency of the processor of the wireless terminal is low, or there are many programs currently running that occupy a large memory space, When the wireless terminal provided in this embodiment executes the cooperative positioning method, a processing manner that is more suitable for the current state can be selected.

In a specific implementation, the method for determining the acquisition of the first cooperative positioning information may be, for example, a first delay threshold is preset in the wireless terminal system provided in this embodiment, and the first delay threshold and the positioning delay parameter are determined by the difference between the first delay threshold and the positioning delay parameter. The specific manner of obtaining the first cooperative positioning information is determined by comparison, and the first delay threshold is preset by the system of the wireless terminal according to the actual positioning performance requirement. Optionally, in an implementation manner of this embodiment, the time delay requirement for cooperative positioning of the wireless terminal is relatively high, and the mode determining unit 15 is specifically configured to generate the positioning delay parameter generated by the generating module 11 is less than or equal to a predetermined time delay. When the first delay threshold is set, the acquisition method is determined to be an active acquisition method; correspondingly, the information acquisition unit 16 is specifically configured to broadcast a cooperative positioning request message, so that adjacent terminals send a cooperative positioning response according to the cooperative positioning request message. and receive the cooperative positioning response message, where the cooperative positioning response message includes the first cooperative positioning information.

In the specific implementation of this embodiment, the wireless terminal can also perform subsequent positioning work according to the validity of the acquired information. Specifically, the wireless terminal provided by this embodiment further includes: a judgment module 17, which is used for the positioning module 14 according to the acquired information. Before calculating the current position of the wireless terminal, the position information of the adjacent terminal obtained by the module 13 determines whether the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module 13 is valid; accordingly, the positioning module 14, specifically for calculating the current position of the wireless terminal according to the position information of the adjacent terminal obtained by the obtaining module 13 when the judgment module 17 judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module 13 is valid; Alternatively, the positioning module 14 is specifically configured to calculate the current position of the wireless terminal by means of self-positioning when the judgment module 17 judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module 13 is invalid.

Optionally, in another implementation manner of this embodiment, the time delay requirement for the wireless terminal to perform cooperative positioning is relatively low, and the method determining unit 15 is specifically configured to generate a positioning delay parameter greater than the first time delay parameter generated by the generating module 11. When there is a delay threshold, the acquisition mode is determined to be a passive acquisition mode; correspondingly, the information acquisition unit 16 is specifically configured to monitor the first cooperative positioning information broadcast by the adjacent terminals.

Similarly, in the specific implementation of this embodiment, the wireless terminal can also perform subsequent positioning work according to the validity of the acquired information. In this embodiment, the way in which the judgment module 17 judges whether the position information of the adjacent terminal is valid is the same as that of the above-mentioned implementation. Similar to the example, both are executed before the positioning module 14 calculates the current position of the wireless terminal; correspondingly, the positioning module 14 is specifically used for determining the phase included in the first cooperative positioning information acquired by the acquiring module 13 in the determining module 17 When the position information of the adjacent terminal is valid, the current position of the wireless terminal is calculated according to the position information of the adjacent terminal obtained by the obtaining module 13; When the location information of the adjacent terminals included in the cooperative positioning information is invalid, the acquisition method of the first cooperative positioning information is determined as the main acquisition method; then the acquisition module 13 in this embodiment is also used for the wireless The communication technology uses the primary acquisition method determined by the positioning module 14 to acquire the first cooperative positioning information.

In specific implementation, in this embodiment, the time when the wireless terminal acquires the first cooperative positioning information may also be limited, specifically, the time when the wireless terminal monitors the first cooperative positioning information broadcast by the adjacent terminal, and the time when the wireless terminal monitors the first cooperative positioning information broadcast by the adjacent The time when the terminal receives the cooperative positioning response message fed back by the adjacent terminal is limited. Specifically, a time threshold can be set in the system of the wireless terminal. If it times out, it will continue to perform cooperative positioning. Positioning information works.

Further, the wireless terminal provided in this embodiment may further include: a broadcasting module 18, configured to broadcast second coordinated positioning information after the positioning module 14 calculates the current position of the wireless terminal, where the second coordinated positioning information is used for relative positioning Neighboring terminals perform cooperative positioning.

Further, on the basis of the above-mentioned embodiment, in the wireless terminal provided in this embodiment, the positioning request information generated by the generation module 11 may also include an update frequency parameter, and the judgment module 17 is also used for selecting the information in the selection module 12. Before the wireless communication technology, according to at least one of the positioning accuracy parameter, the positioning delay parameter, the update frequency parameter and the self-positioning capability of the wireless terminal generated by the generation module 11, it is determined to perform cooperative positioning or self-positioning; correspondingly, the selection module 12, Specifically, when the judgment module 17 determines to perform cooperative positioning, the wireless communication technology is selected according to the positioning accuracy parameter generated by the generation module 11 .

The wireless terminal provided in this embodiment can choose to perform cooperative positioning or self-positioning according to the specific requirements of the currently running APP, and can comprehensively consider the advantages and limitations of cooperative positioning and self-positioning, and provide a wireless terminal that is more suitable for the current running APP of the wireless terminal. positioning method.

In a specific implementation, the conditions for determining the cooperative positioning performed by the judgment module 17 may include: the wireless terminal does not have the self-positioning capability; or, when the wireless terminal has the self-positioning capability, the positioning accuracy parameter is greater than the preset second accuracy threshold, The positioning delay parameter is greater than the preset second delay threshold, and the update frequency parameter is less than or equal to the preset frequency threshold; it should be noted that when the wireless terminal determines to perform cooperative positioning, the positioning accuracy parameter, positioning delay parameter and update The requirement of the frequency parameter is an "and" relationship, that is, when the wireless terminal has the self-positioning capability, as long as the positioning accuracy parameter is less than or equal to the second accuracy threshold, and the positioning delay parameter is less than or equal to the second delay threshold, and When the update frequency parameter is greater than one of the frequency thresholds, the wireless terminal determines to perform self-location.

The wireless terminal provided by the embodiments of the present invention is used to execute the cooperative positioning method provided by the embodiments shown in FIG. 3 to FIG. 5 of the present invention, and has corresponding functional modules.

Embodiment 6

FIG. 8 is a schematic structural diagram of a wireless terminal according to Embodiment 6 of the present invention. The wireless terminal provided in this embodiment specifically includes: a processor 21 , a receiver 22 and a calculator 23 .

The processor 21 is configured to generate positioning request information, where the positioning request information includes a positioning accuracy parameter.

The wireless terminal in this embodiment can be, for example, a mobile phone, a PDA, etc. When a currently running APP generates a positioning requirement, for example, the APP can be a navigation application, and the processor 21 of the wireless terminal is based on the actual demand for the positioning function of the APP. Generate positioning request information.

The processor 21 is further configured to select a wireless communication technology according to the positioning accuracy parameter, where the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning.

In this embodiment, the processor 21 of the wireless terminal to be located selects an appropriate technology from the wireless communication technologies supported by the wireless terminal according to the positioning accuracy parameters generated by the specific requirements of the currently running APP, such as cellular communication technology, Wi-Fi technology, Bluetooth technology, etc. For example, the communication range of the wireless communication technology selected by the processor 21 is smaller than the difference between the positioning accuracy parameter and the preset first accuracy threshold.

The processor 21 is further configured to obtain the first cooperative positioning information sent by the adjacent terminal through the selected wireless communication technology, where the first cooperative positioning information includes the position information of the adjacent terminal.

It should be noted that the number of adjacent terminals in this embodiment may be one or more. Therefore, the number of first cooperation information acquired by the wireless terminal in this embodiment may also be one or more, as long as the number of adjacent terminals can be selected through wireless communication. The terminal that communicates with the wireless terminal can all be the adjacent terminal in this embodiment; in addition, in this embodiment, both the wireless terminal and the adjacent terminal can perform cooperative positioning, that is, in this embodiment, the wireless terminal and the adjacent terminal can perform cooperative positioning. Terminals are interchangeable.

The calculator 23 is configured to calculate the current position of the wireless terminal according to the position information of the adjacent terminal acquired by the receiver 22 .

In the wireless terminal provided in this embodiment, in the process of performing cooperative positioning, the current position of the wireless terminal can be calculated only according to the position information of adjacent terminals. Therefore, whether the wireless terminal has a self-positioning function is not limited, which reduces the need for The hardware requirements of the wireless terminal for the cooperative positioning method.

The wireless terminal provided by the embodiment of the present invention is used to execute the cooperative positioning method provided by the embodiment shown in FIG. 1 of the present invention, and has a corresponding physical device, and its implementation principle and technical effect are similar, and details are not repeated here.

其中，l_i为第i个相邻终端的位置信息，ω_i为第i个相邻终端的位置信息对应的加权系数，N为正整数，代表该相邻终端的个数。Optionally, in the wireless terminal provided in this embodiment, the first cooperative positioning information obtained by the receiver 22 may further include the position uncertainty of the adjacent terminals and the signal strength of the first cooperative positioning information; correspondingly, the calculator 23 , which is specifically used to calculate the weighting coefficient corresponding to the position information of the adjacent terminal according to the position uncertainty of the adjacent terminal obtained by the receiver 22 and the signal strength of the first cooperative positioning information; and according to the position information of the adjacent terminal and the corresponding The weighting coefficient of , confirms the current location of the wireless terminal as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer representing the number of the adjacent terminals.

The wireless terminal provided by this embodiment has a simple arithmetic processing algorithm in the process of performing cooperative positioning, and can also realize positioning on a wireless terminal with low computing power, neither need to install infrastructure nor equip the wireless terminal with high computing power The hardware facilities further reduce the hardware cost of wireless terminals.

In the wireless terminal provided in this embodiment, the positioning request information generated by the processor 21 may further include a positioning delay parameter; correspondingly, the receiver 22 is specifically configured to determine the first cooperative positioning according to the positioning delay parameter generated by the processor 21 and obtaining the first cooperative positioning information through the wireless communication technology selected by the processor 21 using the determined acquisition method, and the acquisition method may include an active acquisition method and a passive acquisition method.

It should be noted that when the operating frequency of the processor of the wireless terminal is limited or the memory space is relatively high, for example, the operating frequency of the processor of the wireless terminal is low, or there are many programs currently running that occupy a large memory space, When the wireless terminal provided in this embodiment executes the cooperative positioning method, a processing manner that is more suitable for the current state can be selected.

In a specific implementation, the method for determining the acquisition of the first cooperative positioning information may be, for example, a first delay threshold is preset in the wireless terminal system provided in this embodiment, and the first delay threshold and the positioning delay parameter are determined by the difference between the first delay threshold and the positioning delay parameter. The specific manner of obtaining the first cooperative positioning information is determined by comparison, and the first delay threshold is preset by the system of the wireless terminal according to the actual positioning performance requirement. Optionally, in an implementation manner of this embodiment, the time delay requirement for cooperative positioning of the wireless terminal is relatively high. The wireless terminal provided in the embodiment shown in FIG. 8 further includes the transmitter 24, and the receiver 22 uses Determining the acquisition method of the first cooperative positioning information according to the positioning delay parameter generated by the processor 21 specifically includes: when the positioning delay parameter generated by the processor 21 is less than or equal to a preset first delay threshold, determining the acquisition method It is an active acquisition mode; correspondingly, the transmitter 24 is used to broadcast the cooperative positioning request message, so that the adjacent terminals send the cooperative positioning response message according to the cooperative positioning request message; then the receiver 22 is used to receive the cooperative positioning response message. , the cooperative positioning response message includes the first cooperative positioning information.

In the specific implementation of this embodiment, the wireless terminal can also perform subsequent positioning work according to the validity of the acquired information. Before calculating the current position of the wireless terminal, the position information of the adjacent terminal obtained by the receiver 22 determines whether the position information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver 22 is valid; When the processor 21 determines that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver 22 is valid, the current position of the wireless terminal is calculated according to the position information of the adjacent terminal obtained by the receiver 22; or , the calculator 23 is specifically configured to calculate the current position of the wireless terminal by means of self-positioning when the processor 21 determines that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver 22 is invalid.

Optionally, in another implementation manner of this embodiment, the delay requirement for the wireless terminal to perform cooperative positioning is relatively low, and the receiver 22 is specifically configured to determine the first cooperative positioning according to the positioning delay parameter generated by the processor 21 . The information acquisition mode specifically includes: when the positioning delay parameter generated by the processor 21 is greater than the first delay threshold, determining the acquisition mode as a passive acquisition mode, and monitoring the first cooperative positioning information broadcast by adjacent terminals.

Similarly, in the specific implementation of this embodiment, the wireless terminal can also perform subsequent positioning work according to the validity of the acquired information, and the processor 21 in this embodiment determines whether the position information of the adjacent terminal is valid in the same way as the above-mentioned The embodiments are similar, which are all executed before the calculator 23 calculates the current position of the wireless terminal; accordingly, the calculator 23 is specifically used to determine the phase included in the first cooperative positioning information acquired by the receiver 22 when the processor 21 determines When the position information of the adjacent terminal is valid, the current position of the wireless terminal is calculated according to the position information of the adjacent terminal obtained by the receiver 22; When the position information of the adjacent terminal included in the positioning information is invalid, the acquisition method of the first cooperative positioning information is determined as the main acquisition method; then the processor 21 in this embodiment is further configured to adopt the selected wireless communication technology The primary acquisition method determined by the calculator 23 acquires the first cooperative positioning information.

In specific implementation, this embodiment may also limit the time when the wireless terminal obtains the first cooperative positioning information. Specifically, the time when the wireless terminal monitors the first cooperative positioning information broadcast by the adjacent The time to the cooperative positioning response message fed back by the adjacent terminal is limited. Specifically, a time threshold can be set in the system of the wireless terminal. If it times out, the cooperative positioning will continue to be executed. If it does not time out, the first cooperative positioning information can be repeatedly executed work.

Further, the transmitter 24 of the wireless terminal provided in this embodiment is further configured to broadcast the second cooperative positioning information after the calculator 23 calculates the current position of the wireless terminal, and the second cooperative positioning information is used for adjacent terminals Co-locate.

Further, on the basis of the above-mentioned embodiment, in the wireless terminal provided by this embodiment, the positioning request information generated by the processor 21 may also include an update frequency parameter, and the processor 21 is also used to obtain the wireless communication technology. Before, according to at least one of the generated positioning accuracy parameter, positioning delay parameter, update frequency parameter, and the self-positioning capability of the wireless terminal, it is determined to perform cooperative positioning or self-positioning; correspondingly, the processor 21 is further configured to perform cooperative positioning or self-positioning according to the positioning accuracy parameter. Selecting the wireless communication technology specifically includes: when the processor 21 determines to perform cooperative positioning, selecting the wireless communication technology according to the generated positioning accuracy parameter.

The wireless terminal provided in this embodiment can choose to perform cooperative positioning or self-positioning according to the specific requirements of the currently running APP, and can comprehensively consider the advantages and limitations of cooperative positioning and self-positioning, and provide a wireless terminal that is more suitable for the current running APP of the wireless terminal. positioning method.

In a specific implementation, the conditions for the processor 21 to determine the cooperative positioning may include: the wireless terminal does not have the self-positioning capability; or, when the wireless terminal has the self-positioning capability, the positioning accuracy parameter is greater than the preset second accuracy threshold, The positioning delay parameter is greater than the preset second delay threshold, and the update frequency parameter is less than or equal to the preset frequency threshold; it should be noted that when the wireless terminal determines to perform cooperative positioning, the positioning accuracy parameter, positioning delay parameter and update The requirement of the frequency parameter is an "and" relationship, that is, when the wireless terminal has the self-positioning capability, as long as the positioning accuracy parameter is less than or equal to the second accuracy threshold, and the positioning delay parameter is less than or equal to the second delay threshold, and When the update frequency parameter is greater than one of the frequency thresholds, the wireless terminal determines to perform self-location.

The wireless terminal provided by the embodiments of the present invention is used to execute the cooperative positioning method provided by the embodiments shown in FIG. 3 to FIG. 5 of the present invention, and has a corresponding entity device.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (24)

1. a cooperative positioning method, is characterized in that, comprises: The wireless terminal generates positioning request information, where the positioning request information includes a positioning accuracy parameter; The wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning, and the communication range of the selected wireless communication technology is smaller than the positioning accuracy parameter The difference from the preset first accuracy threshold, the selected wireless communication technology includes cellular communication technology, Wi-Fi or Bluetooth technology; obtaining, by the wireless terminal, first cooperative positioning information sent by an adjacent terminal through the selected wireless communication technology, where the first cooperative positioning information includes location information of the adjacent terminal; The wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals; The first cooperative positioning information further includes the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information, and the wireless terminal calculates the wireless terminal's position according to the position information of the adjacent terminal. Current location, including: The wireless terminal calculates, according to the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information, a weighting coefficient corresponding to the position information of the adjacent terminal; The wireless terminal confirms the current position of the wireless terminal according to the position information of the adjacent terminal and the corresponding weighting coefficient as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer, representing the number of the adjacent terminals; The wireless terminal uses the following formula to calculate the weighting coefficient corresponding to the location information of the adjacent terminal:

Wherein, ri is the signal strength of the first cooperative positioning information sent by the _ith adjacent terminal, and _ui is the uncertainty of the position information of the ith adjacent terminal. 2 . The method according to claim 1 , wherein the positioning request information further includes a positioning delay parameter; then the wireless terminal obtains the first cooperative positioning sent by the adjacent terminal through the selected wireless communication technology. 3 . information, including: determining, by the wireless terminal, an acquisition method of the first cooperative positioning information according to the positioning delay parameter; The wireless terminal uses the selected wireless communication technology to acquire the first cooperative positioning information by using the determined acquisition manner, and the acquisition manner includes an active acquisition manner and a passive acquisition manner. 3 . The method according to claim 2 , wherein determining, by the wireless terminal according to the positioning delay parameter, an acquisition mode of the first cooperative positioning information, comprising: 3 . When the positioning delay parameter is less than or equal to a preset first delay threshold, the wireless terminal determines the acquisition mode as an active acquisition mode; Then, the wireless terminal obtains the first cooperative positioning information through the selected wireless communication technology using the determined obtaining manner, including: The wireless terminal broadcasts a cooperative positioning request message, so that the neighboring terminal sends a cooperative positioning response message according to the cooperative positioning request message; The wireless terminal receives the coordinated positioning response message, where the coordinated positioning response message includes the first coordinated positioning information. 4. The method according to claim 3, wherein the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals, comprising: When the location information of the adjacent terminal included in the first cooperative positioning information is valid, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminal; or, When the position information of the adjacent terminal included in the first cooperative positioning information is invalid, the wireless terminal calculates the current position of the wireless terminal by means of self-positioning. 5 . The method according to claim 2 , wherein determining, by the wireless terminal according to the positioning delay parameter, an acquisition manner of the first cooperative positioning information, comprising: 6 . When the positioning delay parameter is greater than a preset first delay threshold, the wireless terminal determines the acquisition mode as a passive acquisition mode; Then, the wireless terminal obtains the first cooperative positioning information through the selected wireless communication technology using the determined obtaining manner, including: monitoring, by the wireless terminal, the first cooperative positioning information broadcast by the adjacent terminal; The wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminals, including: When the location information of the adjacent terminal included in the first cooperative positioning information is valid, the wireless terminal calculates the current location of the wireless terminal according to the location information of the adjacent terminal; or, When the location information of the adjacent terminal included in the first cooperative positioning information is invalid, the wireless terminal determines the acquisition method of the first cooperative positioning information as the main acquisition method, and uses the selected wireless terminal The communication technology acquires the first cooperative positioning information by using the primary acquisition method, and then determines the current location of the wireless terminal. 6. The method according to claim 1, wherein after calculating the current position of the wireless terminal, the method further comprises: The wireless terminal broadcasts second cooperative positioning information, and the second cooperative positioning information is used for the adjacent terminals to perform cooperative positioning. 7. The method according to claim 1, wherein the positioning request information further comprises an update frequency parameter, and before the wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, further comprising: The wireless terminal determines whether to perform cooperative positioning according to the positioning accuracy parameter, the positioning delay parameter, the update frequency parameter and the self-positioning capability of the wireless terminal; or determining, by the wireless terminal, whether to perform cooperative positioning according to the self-positioning capability of the wireless terminal; The wireless terminal selects a wireless communication technology according to the positioning accuracy parameter, including: When the wireless terminal determines to perform cooperative positioning, a wireless communication technology is selected according to the positioning accuracy parameter. 8. The method according to claim 7, wherein the condition for the wireless terminal to determine the cooperative positioning comprises: The wireless terminal does not have the self-positioning capability; or, When the wireless terminal has self-positioning capability, the positioning accuracy parameter is greater than a preset second accuracy threshold, the positioning delay parameter is greater than a preset second delay threshold, and the update frequency parameter is less than or equal to a preset set frequency threshold. 9. A wireless terminal, comprising: a generating module for generating positioning request information, where the positioning request information includes a positioning accuracy parameter; A selection module, configured to select a wireless communication technology according to the positioning accuracy parameter generated by the generation module, where the selected wireless communication technology is a communication mode for wireless terminals to perform cooperative positioning; the communication range of the wireless communication technology selected by the selection module is less than The difference between the positioning accuracy parameter and the preset first accuracy threshold, and the selected wireless communication technology includes cellular communication technology, wireless fidelity Wi-Fi or Bluetooth technology; an acquisition module, configured to acquire first cooperative positioning information sent by adjacent terminals through the wireless communication technology selected by the selection module, where the first cooperative positioning information includes location information of the adjacent terminals; a positioning module, configured to calculate the current position of the wireless terminal according to the position information of the adjacent terminals obtained by the obtaining module; The first cooperative positioning information obtained by the obtaining module further includes the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information, and the positioning module includes: a weighting calculation unit, configured to calculate a weighting coefficient corresponding to the position information of the adjacent terminal according to the position uncertainty of the adjacent terminal obtained by the obtaining module and the signal strength of the first cooperative positioning information; A position calculation unit, used for confirming the current position of the wireless terminal according to the position information of the adjacent terminal and the corresponding weighting coefficient as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer, representing the number of the adjacent terminals; The weighting calculation unit uses the following formula to calculate the weighting coefficient corresponding to the position information of the adjacent terminal:

Wherein, ri is the signal strength of the first cooperative positioning information sent by the _ith adjacent terminal, and _ui is the uncertainty of the position information of the ith adjacent terminal. 10 . The wireless terminal according to claim 9 , wherein the positioning request information generated by the generating module further comprises a positioning delay parameter; then the obtaining module comprises: a mode determining unit, configured to The generated positioning delay parameter determines an acquisition method of the first cooperative positioning information; An information acquisition unit, configured to acquire the first cooperative positioning information by using the acquisition mode determined by the mode determination unit through the wireless communication technology selected by the selection module, and the acquisition mode includes an active acquisition mode and a passive acquisition mode. 11. The wireless terminal according to claim 10, wherein the mode determining unit is specifically configured to: when the positioning delay parameter generated by the generating module is less than or equal to a preset first delay threshold, The above acquisition method is determined to be an active acquisition method; The information acquisition unit is specifically configured to broadcast a cooperative positioning request message, so that the adjacent terminals send a cooperative positioning response message according to the cooperative positioning request message; and receive the cooperative positioning response message, the cooperative positioning response The message includes the first cooperative positioning information. 12 . The wireless terminal according to claim 11 , further comprising: a judging module, configured to calculate the current position of the wireless terminal in the positioning module according to the position information of adjacent terminals obtained by the obtaining module. 13 . Before, judging whether the location information of the adjacent terminal included in the first cooperative positioning information acquired by the acquiring module is valid; The positioning module is specifically configured to, when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is valid, according to the adjacent terminal obtained by the obtaining module. The location information of the terminal calculates the current location of the wireless terminal; or, The positioning module is specifically configured to calculate the wireless terminal by means of self-positioning when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is invalid 's current location. 13 . The wireless terminal according to claim 10 , wherein the mode determining unit is specifically configured to, when the positioning delay parameter generated by the generating module is greater than a preset first delay threshold, determine the method 13 . The acquisition method is determined to be a passive acquisition method; then the information acquisition unit is specifically configured to monitor the first cooperative positioning information broadcast by the adjacent terminal; The wireless terminal further includes: a judging module for judging the first cooperation obtained by the obtaining module before the positioning module calculates the current position of the wireless terminal according to the position information of the adjacent terminals obtained by the obtaining module. Whether the location information of the adjacent terminal included in the positioning information is valid; The positioning module is specifically configured to, when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is valid, according to the adjacent terminal obtained by the obtaining module. The location information of the terminal calculates the current location of the wireless terminal; or, The positioning module is specifically configured to, when the judgment module judges that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the obtaining module is invalid, to obtain the first cooperative positioning information. The method is determined as the main acquisition method; The acquisition module is further configured to acquire the first cooperative positioning information by using the primary acquisition method determined by the positioning module through the wireless communication technology selected by the selection module. 14. The wireless terminal according to claim 9, further comprising: a broadcasting module, configured to broadcast second cooperative positioning information after the positioning module calculates the current position of the wireless terminal, the first cooperative positioning information The second cooperative positioning information is used for the adjacent terminals to perform cooperative positioning. 15 . The wireless terminal according to claim 12 , wherein the positioning request information generated by the generating module further includes an update frequency parameter, and the judging module is further configured to select a wireless communication technology before the selecting module. 16 . , according to the positioning accuracy parameter, the positioning delay parameter, the update frequency parameter and the self-positioning capability of the wireless terminal generated by the generating module, determine whether to perform cooperative positioning; or According to the self-positioning capability of the wireless terminal, determine whether to perform cooperative positioning; The selection module is specifically configured to select a wireless communication technology according to the positioning accuracy parameter generated by the generation module when the determination module determines to perform cooperative positioning. 16. The wireless terminal according to claim 15, wherein the condition for determining by the judgment module to perform cooperative positioning comprises: The wireless terminal does not have the self-positioning capability; or, When the wireless terminal has self-positioning capability, the positioning accuracy parameter is greater than a preset second accuracy threshold, the positioning delay parameter is greater than a preset second delay threshold, and the update frequency parameter is less than or equal to a preset set frequency threshold. 17. A wireless terminal, comprising: a processor, configured to generate positioning request information, where the positioning request information includes a positioning accuracy parameter; The processor is further configured to select a wireless communication technology according to the generated positioning accuracy parameter, where the selected wireless communication technology is a communication mode for the wireless terminal to perform cooperative positioning; the communication range of the wireless communication technology selected by the processor is less than the difference between the positioning accuracy parameter and the preset first accuracy threshold, and the selected wireless communication technology includes cellular communication technology, wireless fidelity Wi-Fi or Bluetooth technology; a receiver, configured to obtain first cooperative positioning information sent by an adjacent terminal through a wireless communication technology selected by the processor, where the first cooperative positioning information includes location information of the adjacent terminal; a calculator, configured to calculate the current position of the wireless terminal according to the position information of the adjacent terminal acquired by the processor; The first cooperative positioning information obtained by the receiver further includes the position uncertainty of the adjacent terminal and the signal strength of the first cooperative positioning information; then the calculator is specifically configured to calculate the weighting coefficient corresponding to the position information of the adjacent terminal according to the position uncertainty of the adjacent terminal obtained by the receiver and the signal strength of the first cooperative positioning information; and The current location of the wireless terminal is confirmed according to the location information of the neighboring terminal and the corresponding weighting coefficient as:

Wherein, l _i is the position information of the ith adjacent terminal, ω _i is the weighting coefficient corresponding to the position information of the ith adjacent terminal, and N is a positive integer, representing the number of the adjacent terminals; The calculator uses the following formula to calculate the weighting coefficient corresponding to the position information of the adjacent terminal:

Wherein, ri is the signal strength of the first cooperative positioning information sent by the _ith adjacent terminal, and _ui is the uncertainty of the position information of the ith adjacent terminal. 18 . The wireless terminal according to claim 17 , wherein the positioning request information generated by the processor further includes a positioning delay parameter; then the receiver is specifically configured to determining the acquisition mode of the first cooperative positioning information by extending the parameters; and using the acquisition mode determined by the mode determination unit to acquire the first cooperative positioning information through the wireless communication technology selected by the processor, and the acquisition mode includes active Access and passive access. 19 . The wireless terminal according to claim 18 , wherein the receiver is specifically configured to determine the acquisition mode of the first cooperative positioning information according to the positioning delay parameter generated by the processor, and specifically includes: When the positioning delay parameter generated by the processor is less than or equal to a preset first delay threshold, the acquisition mode is determined to be an active acquisition mode; correspondingly, the wireless terminal further includes: a transmitter for broadcasting cooperation A positioning request message, so that the adjacent terminal sends a cooperative positioning response message according to the cooperative positioning request message; then the receiver is configured to receive the cooperative positioning response message, where the cooperative positioning response message includes the The first cooperative positioning information. 20. The wireless terminal according to claim 19, wherein the processor is further configured to calculate, in the calculator, the current position of the wireless terminal according to the position information of adjacent terminals acquired by the processor Before, judging whether the location information of the neighboring terminal included in the first cooperative positioning information obtained by the receiver is valid; The calculator is specifically configured to, when the processor determines that the location information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is valid, according to the adjacent information obtained by the processor. The location information of the terminal calculates the current location of the wireless terminal; or, The calculator is specifically configured to calculate the wireless terminal by means of self-positioning when the processor determines that the position information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is invalid 's current location. 21 . The wireless terminal according to claim 18 , wherein the receiver is specifically configured to determine the acquisition mode of the first cooperative positioning information according to the positioning delay parameter generated by the processor, and specifically includes: When the positioning delay parameter generated by the processor is greater than a preset first delay threshold, the acquisition mode is determined as a passive acquisition mode; and the first cooperative positioning information broadcast by the adjacent terminal is monitored; The processor is further configured to, before the calculator calculates the current position of the wireless terminal according to the position information of the adjacent terminals obtained by the processor, determine that the first cooperative positioning information obtained by the receiver includes: Whether the location information of the adjacent terminal is valid; The calculator is specifically configured to, when the processor determines that the location information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is valid, according to the adjacent information obtained by the processor. The location information of the terminal calculates the current location of the wireless terminal; or, The calculator is specifically configured to, when the processor determines that the location information of the adjacent terminal included in the first cooperative positioning information obtained by the receiver is invalid, to obtain the first cooperative positioning information The method is determined as the main acquisition method; Then, the processor is further configured to acquire the first cooperative positioning information by using the selected wireless communication technology using the primary acquisition method determined by the calculator. 22. The wireless terminal according to claim 17, further comprising: a transmitter, configured to broadcast second cooperative positioning information after the calculator calculates the current position of the wireless terminal, the first The second cooperative positioning information is used for the adjacent terminals to perform cooperative positioning. 23. The wireless terminal according to claim 17, wherein the positioning request information generated by the processor further includes an update frequency parameter, and the processor is further configured to, before the selection of the wireless communication technology, The generated positioning accuracy parameter, positioning delay parameter, the update frequency parameter and the self-positioning capability of the wireless terminal, determine whether to perform cooperative positioning; or According to the self-positioning capability of the wireless terminal, determine whether to perform cooperative positioning; The processor is further configured to select a wireless communication technology according to the generated positioning accuracy parameter, which specifically includes: when the processor determines to perform cooperative positioning, selecting a wireless communication technology according to the generated positioning accuracy parameter. 24. The wireless terminal of claim 23, wherein the conditions for the processor to determine to perform cooperative positioning comprise: The wireless terminal does not have the self-positioning capability; or, When the wireless terminal has self-positioning capability, the positioning accuracy parameter is greater than a preset second accuracy threshold, the positioning delay parameter is greater than a preset second delay threshold, and the update frequency parameter is less than or equal to a preset set frequency threshold.

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